针对多无人船系统的路径跟踪和编队控制问题，本文提出一种分布式协同控制策略，基于模型预测控制算法为各子系统设计独立的控制器，通过实时迭代框架实现系统之间的一致性。同时，将上层运动控制与底层推力分配进行一体化集成，实现对推力器的直接控制和约束条件一致化。数值模拟结果显示所提策略能够提高系统对外部环境变化的适应性，减少计算成本25.02%并降低能耗6.89%，对于包含多个子系统的大规模协同控制问题具有一定的实际应用价值。
This paper proposes a distributed cooperative control strategy aiming at the problem of path following and formation control of the multi-vessel system. The distributed controllers for each subsystem are designed based on the model predictive control algorithm and the consistency among systems are achieved by the real-time iterative negotiation framework. The motion control and the thrust allocation are integrated into one model to realize the direct control of thrusters and the consistency of constraints. Numerical simulation results demonstrate that the proposed strategy can improve the adaptability of the system to external changing environments, reduce computational cost 25.02% and energy consumption 6.89%. It is of certain practical application value for large-scale cooperative control problems with multi-vessel systems.
2022,44(19): 82-89 收稿日期：2022-07-29
DOI：10.3404/j.issn.1672-7649.2022.19.016
分类号：U664.82
基金项目：国家自然科学基金资助项目（51179103）
作者简介：彭涛 (1976-)，男，硕士，高级工程师，研究方向为无人船控制技术
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